#ifndef ROBOTMOTION
#define ROBOTMOTION
#include "robotCommon.h"

#ifdef __cplusplus 
extern "C"
{
#endif

GENESDK_API HRESULT GetAllMecUnits(void *handle, RobotControllerInfo *info);
GENESDK_API HRESULT GetActiveMechUnit(void *handle, char * mechUnitName);
GENESDK_API HRESULT SetActiveMechUnit(void *handle, const char * mechUnitName);
GENESDK_API HRESULT SetJogCommand(void *handle, RobJogVector vector, IncrementalMode incremental);
GENESDK_API HRESULT GoToPosition(void *handle, const char * robTargetName);
//GENESDK_API HRESULT SetRobIncrementalMode(void *handle, IncrementalMode mode);
GENESDK_API HRESULT GetPgmRate(void *handle, float* rate);
GENESDK_API HRESULT SetPgmRate(void *handle, float rate);
GENESDK_API HRESULT GetJogDeAcc(void *handle, float* jogDeAcc);
GENESDK_API HRESULT SetJogDeAcc(void *handle, float jogDeAcc);
GENESDK_API HRESULT GetJogAcc(void *handle, float *jogAcc);
GENESDK_API HRESULT SetJogAcc(void *handle, float jogAcc);
GENESDK_API HRESULT SetRobotColDetect(void *handle, int groupId, int pathOn, float pathLevel, int jogOn, float jogLevel);
GENESDK_API HRESULT GetRobotColDetect(void *handle, int groupId, int *pathOn, float *pathLevel, int *jogOn, float *jogLevel);
GENESDK_API HRESULT GetDragState(void* handle, int groupId, int* state);
#ifdef __cplusplus
}
#endif
#endif // !ROBOTMOTION
